normal_display.h
Go to the documentation of this file.
00001 // -*- mode: C++ -*-
00002 #ifndef NORMAL_DISPLAY_H
00003 #define NORMAL_DISPLAY_H
00004 #include <OGRE/OgreSceneNode.h>
00005 #include <OGRE/OgreSceneManager.h>
00006 #include <QColor>
00007 
00008 #include <boost/circular_buffer.hpp>
00009 
00010 #include <sensor_msgs/PointCloud2.h>
00011 
00012 #include <rviz/message_filter_display.h>
00013 #include <rviz/default_plugin/point_cloud_transformers.h>
00014 #include <rviz/validate_floats.h>
00015 #include <rviz/visualization_manager.h>
00016 #include <rviz/frame_manager.h>
00017 #include <rviz/properties/enum_property.h>
00018 #include <rviz/properties/color_property.h>
00019 #include <rviz/properties/int_property.h>
00020 #include <rviz/properties/bool_property.h>
00021 #include <rviz/properties/float_property.h>
00022 #include "normal_visual.h"
00023 
00024 namespace jsk_rviz_plugins
00025 {
00026 
00027 class NormalDisplay: public rviz::MessageFilterDisplay<sensor_msgs::PointCloud2>
00028 {
00029 Q_OBJECT
00030 public:
00031   NormalDisplay();
00032   virtual ~NormalDisplay();
00033   rviz::EnumProperty* style_property_;
00034   rviz::ColorProperty* color_property_;
00035   rviz::ColorProperty* min_color_property_;
00036   rviz::ColorProperty* max_color_property_;
00037   rviz::FloatProperty* skip_rate_property_;
00038   rviz::BoolProperty* rainbow_property_;
00039   rviz::FloatProperty* scale_property_;
00040   rviz::FloatProperty* alpha_property_;
00041   float skip_rate_;
00042   float scale_;
00043   float alpha_;
00044 
00045   enum ColorTypes{
00046     POINTS_COLOR,
00047     FLAT_COLOR,
00048     DIRECTION_COLOR,
00049     CURVATURE_COLOR
00050   };
00051 
00052 protected:
00053   virtual void onInitialize();
00054 
00055   virtual void reset();
00056 
00057   boost::circular_buffer<boost::shared_ptr<NormalVisual> > visuals_;
00058 
00059   // Function to handle an incoming ROS message.
00060 private Q_SLOTS:
00061   void processMessage( const sensor_msgs::PointCloud2::ConstPtr& msg );
00062   void updateStyle();
00063   void updateSkipRate();
00064   void updateRainbow();
00065   void updateScale();
00066   void updateAlpha();
00067   void getRainbow(float value , float& rf, float& gf, float& bf);
00068 };
00069 
00070 }
00071 
00072 #endif


jsk_rviz_plugins
Author(s): Kei Okada , Yohei Kakiuchi , Shohei Fujii , Ryohei Ueda
autogenerated on Sun Sep 13 2015 22:29:03